Here is how Yuna and her friends return in Princess Yuna's Adventure Begins.
Later, Yuna and her friends returned home to Canterlot.
Princess Yuna: Mama! Papa!
Snowdrop: Luna! Hiro!
Princess Luna: Yuna! Snowdrop! My darlings! (hugged her daughters)
Hiro: We've missed you!
Princess Sharon: Celestia!
Princess Celestia: Sharon! (hugged her daughter) I've missed you!
Princess Skyla: Mommy! Daddy!
Armor Bride: We're home!
Sweetie Heart: We're back!
Scander: Mom! Dad!
Britney Sweet: We made it back!
Princess Cadance: My fillies!
Shining Armor: We thought you girls would never make it home!
The foals are back with their parents.
Rainbow Chakra: Mommy! Daddy!
Tree Hugger: Rainbow Charka!
Psyche Dil: Great to see you again, Sweetie!
Princess Luna: We're so proud of you, Yuna.
Princess Yuna: Thanks, Mama!
Thomas: You kept your friends going and you never gave up!
Percy: You were so brave and loyal!
James: And you never abandoned your friends!
Thomas: Well done!
Twilight Sparkle: Princess Yuna, You did great saving Equestria and all the other worlds.
Trixie: And for that, We'd like to make you our personal protégé.
Sunset Shimmer: You've earned it.
Princess Yuna: (smiles) I guess I deserve to make a difference after all.